CN109591906B - Control system and control method for transmission tower climbing robot - Google Patents

Control system and control method for transmission tower climbing robot Download PDF

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Publication number
CN109591906B
CN109591906B CN201910081181.8A CN201910081181A CN109591906B CN 109591906 B CN109591906 B CN 109591906B CN 201910081181 A CN201910081181 A CN 201910081181A CN 109591906 B CN109591906 B CN 109591906B
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robot
clamping
abduction
control module
mechanical arm
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CN109591906A (en
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鲁守银
谭荣斌
赵慧如
高焕兵
赵洪华
汤承龙
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Shandong Jianzhu University
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Shandong Jianzhu University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Abstract

The invention discloses a control system and a control method for a transmission tower climbing robot, which solve the problems that the robot cannot climb the tower and cannot cross obstacles in the prior art, have the beneficial effect of conveniently completing climbing tasks, and have the following technical scheme: a control system of a transmission tower climbing robot comprises a visual identification module, a climbing robot and a control module, wherein the visual identification module is arranged on a robot body and used for monitoring the surrounding environment of the robot; the driving control module is arranged on a mechanical arm of the robot body, the mechanical arm comprises an abduction mechanism and a clamping mechanism, the clamping mechanism is connected with the abduction mechanism, and the driving control module is used for controlling the actions of the robot abduction mechanism and the clamping mechanism; the lifting control module is arranged between two adjacent mechanical arms on the upper portion and the lower portion of the robot body and used for controlling the lifting action of the robot so as to realize the climbing action of the robot; the main controller, the visual identification module, the clamping mechanism control module and the lifting control module are respectively connected with the main controller through the communication module.

Description

Control system and control method for transmission tower climbing robot
Technical Field
The invention relates to the field of climbing robots, in particular to a control system and a control method of a transmission tower climbing robot.
Background
The high-voltage transmission line is a main component of an electric power system, the working condition of the high-voltage transmission line is related to the safety, stability and reliability of power supply, and the transmission line is closely connected with a transmission tower, so that the maintenance and overhaul of the transmission tower are particularly important, at present, the maintenance and overhaul of most domestic high-voltage transmission towers mostly depend on manual climbing, workers carry overhaul devices to check the conditions of the towers, the weight of the overhaul devices and the different structures of the towers and the complexity of various maintenance types bring high physical and technical requirements to the workers, and the safety of the workers is influenced.
Along with the continuous promotion of intelligent robot technique, the climbing robot who carries out basic maintenance, parameter detection function to the pole tower that help improves staff's personal safety and can be simple develops into an effectual scheme for solving this problem, the inventor discovers that present tree climbing robot control system can't hinder more, specifically is difficult to accomplish to obstacles such as foot nail, bracing, gusset plate and bolt in the transmission tower and hinders more, and current transmission line detection robot's detecting system only need follow the wire motion and is difficult to accomplish the task of climbing.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a control system of a transmission tower climbing robot, and the robot can climb along the angle steel of a tower and successfully climb over an obstacle by arranging a visual identification module and a driving control module.
A transmission tower climbing robot control system includes:
the visual recognition module is arranged on the robot body and used for monitoring the surrounding environment of the robot;
the driving control module is arranged on a mechanical arm of the robot body, the mechanical arm comprises an abduction mechanism and a clamping mechanism, the clamping mechanism is connected with the abduction mechanism, and the driving control module is used for controlling the actions of the robot abduction mechanism and the clamping mechanism;
the lifting control module is arranged between two adjacent mechanical arms on the upper part and the lower part of the robot body and is used for controlling the lifting action of the robot through the lifting mechanism so as to realize the climbing action of the robot;
the main controller, the visual identification module, the clamping mechanism control module and the lifting control module are respectively connected with the main controller through the communication module.
Furthermore, the control system also comprises a sensing module for detecting the running state of the robot, and the sensing module is connected with the master controller.
Further, the visual identification module including locate install in the wireless transceiver of robot, first camera and second camera, two cameras are used for acquireing the environmental information of robot top and below respectively, and first camera and second camera all are through wireless transceiver and host computer connection, the host computer with the master controller connect, the wireless transceiver is used for transmitting the picture that the camera was shot to the host computer to accomplish further image processing.
Further, the drive control module comprises a multi-axis motion controller, and an abduction motion drive unit and a clamping motion drive unit which are respectively and independently connected with the multi-axis motion controller;
the abduction motion driving unit comprises a first abduction driving part and a second abduction driving part, the two abduction driving parts are arranged up and down, and the first abduction driving part and the second abduction driving part comprise abduction driving power sources;
or, the abduction mechanism comprises an abduction rod piece, the inner side of the abduction rod piece is provided with a first lead screw through an abduction baffle, the first lead screw is connected with an abduction driving power source, and the first lead screw is connected with the clamping mechanism.
Further, the clamping motion driving unit comprises a first clamping driving part and a second clamping driving part which are arranged up and down, and the first clamping driving part and the second clamping driving part comprise clamping driving power sources;
or, fixture includes the centre gripping member, and the centre gripping member is inboard to set up the second lead screw through the centre gripping baffle, and the second lead screw is connected with centre gripping drive power supply, and the centre gripping member overlaps in first lead screw, and the centre gripping member tip is installed through the abduction slider abduction guide rail of abduction member, the second lead screw is equipped with splint, and the splint tip is installed at the centre gripping guide rail of locating the centre gripping member through the centre gripping slider.
Further, the lifting control module comprises a lifting driving power source connected with the lifting mechanism;
or the robot body comprises mounting plates which are arranged up and down, the two sides of each mounting plate are respectively provided with the extending mechanism, the mounting plates are arranged on the base bottom plate, and the two ends of the lifting mechanism are respectively connected with the upper base bottom plate and the lower base bottom plate;
or the drive control module further comprises an adjusting power source arranged between the abduction mechanism and the base bottom plate, so that the abduction mechanism can swing relative to the mounting plate, and the centering clamping of the clamping mechanism on the tower is realized.
The ejection control module comprises an ejection driving power source for controlling the ejection mechanism to extend out to be in contact with the tower;
or the ejection mechanism comprises an ejection screw penetrating through the mounting plate, one end of the ejection screw is provided with an ejector head used for being in contact with a tower, and the other end of the ejection screw is provided with the ejection driving power source.
Furthermore, the sensing module comprises a force sensor arranged on the clamping mechanism and an inclination angle sensor arranged on the extending mechanism and used for detecting an included angle between the extending mechanism and a horizontal plane, and the force sensor is arranged on the inner side of the clamping plate or the clamping baffle and used for measuring the change of clamping force;
the sensing module further comprises a distance measuring sensor arranged on the robot body and used for measuring the distance between the upper mechanical arm and the lower mechanical arm, and the distance measuring sensor is arranged on the lower surface of the upper base bottom plate or on the upper surface of the lower base bottom plate;
the sensing module further comprises a limit switch and a photoelectric encoder, wherein the limit switch and the photoelectric encoder are installed on the clamping mechanism, the lifting mechanism and the extending mechanism.
The angle sensor is arranged on the extending rod piece, the vision sensor is used for measuring the inclination angle alpha of the angle steel on the side part of the tower relative to the ground, the angle sensor is used for measuring the angle beta between the tower and the ground, the two sensors are respectively and independently connected with the controller, the controller is connected with the push rod component, and the controller is a multi-axis motion controller.
Wherein, in order to ensure the parallel joint of the clamping mechanism and the angle steel, the alpha plus beta is 90 degrees. The multi-axis motion controller calculates the included angle alpha + beta between the current robot clamping baffle and the angle steel, when the included angle alpha + beta is equal to 90 degrees, the robot clamping baffle and the angle steel are in a parallel state, the extending rod piece is perpendicular to the angle steel, and the posture of the robot does not need to be adjusted. When alpha + beta is larger than 90 degrees, the robot clamping baffle and the angle steel surface are not in a parallel state, at the moment, the electric push rod extends to push the abduction rod to move around the swing bearing, so that the angle between the abduction rod and the angle steel is reduced, when alpha + beta is reduced to 90 degrees, the clamping baffle is parallel to the angle steel surface, the abduction rod is perpendicular to the angle steel, the electric push rod is stopped to move, and the vertical centering operation of the robot is completed. When the angle alpha + beta is smaller than 90 degrees, the electric push rod is required to contract at the moment, the outward extending rod piece is pulled to move around the swing bearing, the angle between the outward extending rod piece and the angle steel is increased, when the angle alpha + beta is increased to 90 degrees, the clamping baffle is parallel to the surface of the angle steel at the moment, the outward extending rod piece is perpendicular to the angle steel, the electric push rod is stopped to move, and the vertical centering operation of the robot is completed.
Furthermore, the control system also comprises a mechanical claw control module, the mechanical claw control module is arranged on the mechanical claw, the mechanical claw is arranged on the robot body, and the mechanical claw control module is connected with the main controller to control the mechanical claw to be opened or closed;
or the mechanical claw comprises a support arranged on the robot body or the abduction mechanism, the support is connected with the dobby, and the end part of the dobby is provided with the mechanical claw;
the dobby mechanism comprises a first arm and a second arm, the first arm is connected with the support through a first motor, a second motor is arranged between the second arm and the first arm, and the end part of the second arm is provided with the mechanical claw through a third motor.
The control method of the transmission tower climbing robot control system comprises the following steps:
1) the vision recognition module shoots the surrounding environment of the robot and transmits information to the main controller, and if no obstacle exists, climbing is started;
2) the clamping mechanism of the upper mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the upper mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the upper mechanical arm of the robot is loosened relative to the tower;
3) the lifting control module acts to control the upper mechanical arm of the robot to lift, and the lifting control module stops acting after reaching a set position, drives the control module to control the extending mechanism of the upper mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the upper mechanical arm to clamp the side part of the tower;
4) the clamping mechanism of the lower mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the lower mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the lower mechanical arm of the robot is loosened relative to the tower;
5) the lifting control module acts to control the lower mechanical arm of the robot to lift, and the lower mechanical arm stops acting after reaching a set position, the drive control module controls the extending mechanism of the lower mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the lower mechanical arm to clamp the side part of the tower;
6) repeating step 1) -step 5).
Compared with the prior art, the invention has the beneficial effects that:
1) the robot control system can effectively control each mechanism of the robot, can realize the climbing of the robot on a tower and successfully realize obstacle crossing.
2) The robot can achieve the aim of hanging a safety rope or carrying electric power inspection equipment by arranging the mechanical claw module.
3) According to the invention, through the arrangement of the drive control module, the motion control of the robot abduction mechanism and the clamping mechanism can be realized, and the motion of each mechanical arm of the robot is conveniently carried.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a front view of the overall structure in an embodiment of the present invention;
FIG. 2 is a left side view of the overall structure in an embodiment of the present invention;
FIG. 3 is a top view of an upper robot arm in an embodiment of the present invention;
FIG. 4 is a schematic view of a telescoping member in an embodiment of the invention;
FIG. 5 is a schematic illustration of a gripper according to an embodiment of the present invention;
FIG. 6 is a diagram of the operating conditions of the robot in an embodiment of the present invention;
FIG. 7 is a schematic view of an upper robot arm according to another embodiment of the present invention;
FIG. 8 is a schematic view of a clamping mechanism in an embodiment of the invention;
FIG. 9 is a flowchart of a robot single step control in an embodiment of the present invention;
FIG. 10 is a flow chart of obstacle crossing control of a robot in an embodiment of the present invention;
in the figure: 00 an upper mechanical arm; 000 lower robotic arms; 1 an upper clamping mechanism; 2 an upper abduction mechanism; 3 an upper ejection mechanism; 4, a lifting mechanism; 5 a lower clamping mechanism; 6 lower part extending mechanism; 7 lower ejection mechanism; 8, a mechanical arm; 9, mounting a plate; 10 a base bottom plate; 101 lower base floor; a 102L pattern plate; 11 clamping the baffle; 12 a second lead screw; 13, clamping plates; 14 clamping the guide rail; 15 clamping the motor; 16 clamping a speed reducer; 17 clamping the rod piece; 18 a second lead screw nut; 19 clamping the slide block; 21 outwardly extending baffles; 22 extending the guide rail; 23 a first lead screw; 24 extending the rod member; 25 extending the motor; 26 abduction speed reducers, 27 first lead screw nuts and 28 abduction slide blocks; 29 adjusting the electric push rod; 31 a slide rail; 32 ejecting out the speed reducer; 33 ejecting a motor; 34 a lead screw; 35 bearings; 36 rubber plates; 37 bearing fixing plates; 38 a slide block; 41 electric push rod; 42 linear guide rails; 43 a guide rail seat; 81, a support; 82 big arm speed reducer; 83 a large arm motor; 84 large arms; 85 forearm speed reducer; a 86 forearm motor; 87 the forearm; 88 a manipulator speed reducer; 89 a manipulator motor; 810 a gripper; 100 robot; 200 poles and towers.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As described in the background art, the defects in the prior art are that in order to solve the technical problems, the invention provides a control system for a transmission tower climbing robot.
In a typical embodiment of the present invention, as shown in fig. 8, a control system for a transmission tower climbing robot is provided, which includes a visual recognition module installed on a robot body for monitoring the surrounding environment of the robot; the driving control module is arranged on a mechanical arm of the robot body, the mechanical arm comprises an abduction mechanism and a clamping mechanism, the clamping mechanism is connected with the abduction mechanism, and the driving control module is used for controlling the actions of the robot abduction mechanism and the clamping mechanism; the lifting control module is arranged between two adjacent mechanical arms 8 on the upper part and the lower part of the robot body and is used for controlling the lifting action of the robot so as to realize the climbing action of the robot; the main controller, the visual identification module, the clamping mechanism control module and the lifting control module are respectively connected with the main controller through the communication module, and the main controller selects a multi-axis motion controller.
As shown in fig. 1 to 3, the transmission tower climbing robot in the control system includes: the mechanical arms are arranged up and down and comprise an upper mechanical arm 00 and a lower mechanical arm 000, the upper mechanical arm 00 comprises two groups of upper extending mechanisms 2 and an upper clamping mechanism 1, the lower mechanical arm 000 comprises two groups of lower extending mechanisms 6 and a lower clamping mechanism 5, and the lifting mechanism 4 is connected with the upper mechanical arm and the lower mechanical arm.
The drive control module comprises a multi-axis motion controller, an abduction motion drive unit and a clamping motion drive unit which are respectively and independently connected with the multi-axis motion controller;
the abduction motion driving unit comprises a first abduction driving part and a second abduction driving part, the two abduction driving parts respectively drive the upper abduction mechanism 2 and the lower abduction mechanism 6 to move, the two abduction driving parts are arranged up and down, and the first abduction driving part and the second abduction driving part both comprise abduction driving power sources; abduction mechanism includes abduction member 24, and abduction member 24 has length and width of setting for, and abduction member 24 is inboard to set up first lead screw 23 through abduction baffle 21, and first lead screw 23 is connected with abduction drive power supply, first lead screw with fixture connect.
The clamping motion driving unit comprises a first clamping driving part and a second clamping driving part which are arranged up and down, the first clamping driving part and the second clamping driving part respectively comprise clamping driving power sources, and the two power sources respectively drive the upper clamping mechanism 1 and the lower clamping mechanism 5 to act;
the clamping mechanism comprises a clamping rod member 17, the clamping rod member is connected with a first screw nut 27 sleeved on a first screw 23, the inner side of the clamping rod member 17 is provided with a second screw 12 through a clamping baffle 11, the second screw 12 is connected with a clamping driving power source, the clamping driving power source is a clamping motor 15, the clamping rod member 17 is sleeved on the first screw 23, the end part of the clamping rod piece 17 is arranged on the extending guide rail 22 of the extending rod piece 24 through an extending slide block 28, the second screw rod 12 is provided with a clamping plate 13, the end part of the clamping plate 13 is arranged on the clamping guide rail 14 arranged on the clamping rod piece through a clamping slide block 19, the clamping plate 13 is connected with a second screw nut 18 sleeved on the second screw 12, the clamping plate and the clamping baffle 11 on one side of the clamping rod 17 form a clamping paw for clamping the tower 200 angle steel, the length of the clamping plate 13 is less than or equal to that of the clamping baffle 11, and rubber pads are arranged on the inner sides of the clamping plate 13 and the clamping baffle 11; the flared bars 24 are perpendicular to the gripping bars 17 of the gripping members.
The lifting control module comprises a lifting driving power source which is an electric push rod; the robot body is including the mounting panel that sets up from top to bottom, each mounting panel both sides set up respectively abduction mechanism, base bottom plate 10 is located to mounting panel 9, the both ends of lift drive power supply are connected with upper portion base bottom plate and lower part base bottom plate 101 respectively, and set up linear guide 42 between two upper and lower base bottom plates, linear guide 42 installs in the base bottom plate 10 of upper portion arm 00 and lower part arm 000 through guide rail seat 43, electric putter 41 promotes upper portion arm 00 upper and lower action, upper portion arm moves to setting position after, and press from both sides tight shaft tower angle steel, loosen lower part arm, electric putter withdraws and drives lower part arm 000 upwards to move.
In addition, the clamping mechanisms on two sides of the same mounting plate are arranged in a height mode, so that interference in the clamping process is avoided.
The drive control module is further provided with an adjusting power source arranged between the abduction mechanism and the base bottom plate, so that the abduction mechanism can swing relative to the mounting plate, the clamping mechanism can clamp the tower in a centering manner, the two sides of the base bottom plate are provided with extension plates, the adjusting power source is an adjusting electric push rod 29, and the pushing direction of the adjusting electric push rod 29 is perpendicular to the base bottom plate 10.
The control system also comprises an ejection control module arranged on the robot body, and the ejection control module comprises an ejection driving power source for controlling the upper ejection mechanism 3 and the lower ejection mechanism to respectively extend out to be in contact with the tower; the ejection mechanism comprises an ejection screw 34 penetrating through the mounting plate 9, as shown in fig. 4, one end of the ejection screw 34 is provided with an ejection head for contacting with a tower, the other end is provided with an ejection driving power source which is an ejection motor 33, the ejection head is a double ball or a pulley, or the ejection head is a rubber plate 36 supported by a bearing 35, the bearing 35 is arranged at the end part of the screw 34 through a bearing fixing plate 37, the ejection motor 33 is fixed on the mounting plate, and is arranged on the base bottom plate 10 through an L-shaped plate 102 through an ejection screw nut; the ejection motor 33 drives the ejection screw 34 to rotate, and the ejection screw 34 is arranged between the outward-extending rod pieces on the two sides of the mounting plate 9. The mounting plate 9 is mounted on the base bottom plate 10 through a slide rail 31 and fixed with the base bottom plate through an ejection lead screw nut, so that the ejection lead screw drives the mounting plate to move relative to the slide rail 31 and further drives the ejector to move forward or backward, the bottom of the mounting plate is connected with a slide block 38, and the slide block 38 is matched with the slide rail 31.
The visual identification module is including locating wireless transceiver, first camera and the second camera of installing in the robot, and two cameras are used for acquireing the environmental information of robot top and below respectively, and just first camera and second camera all pass through wireless transceiver and host computer connection, the host computer with the master controller connect, wireless transceiver is used for transmitting the picture that the camera was shot to the host computer to accomplish further image processing, specific first camera is installed in the top of upper portion base bottom plate, the lower surface in lower part base bottom plate is installed to the second camera.
The control system also comprises a perception module used for detecting the running state of the robot, and the perception module is connected with the main controller. The sensing module comprises a force sensor arranged on the clamping mechanism and an inclination angle sensor arranged on the abduction mechanism and used for detecting an included angle between the abduction mechanism and a horizontal plane, and the force sensor is arranged on the inner side of the clamping plate or the clamping baffle and used for measuring the change of clamping force; the sensing module further comprises photoelectric encoders and limit switches which are arranged on the motors and used for detecting the rotating speed, and voltage and current transformers and temperature sensors which are used for monitoring the running state of the motors.
The sensing module further comprises a distance measuring sensor arranged on the robot body and used for measuring the distance between the upper mechanical arm and the lower mechanical arm, and the distance measuring sensor is arranged on the lower surface of the upper base bottom plate or on the upper surface of the lower base bottom plate.
Wherein, the inclination angle sensor is arranged on the abduction rod piece 24, the visual sensor measures the inclination angle alpha of the angle steel at the side part of the tower relative to the ground, the inclination angle sensor measures the angle beta between the tower and the ground, the two sensors are respectively and independently connected with the controller, the controller is connected with the push rod component, and the controller is a multi-axis motion controller.
Wherein, in order to ensure the parallel joint of the clamping mechanism and the angle steel, the alpha plus beta is 90 degrees. The multi-axis motion controller calculates the included angle alpha + beta between the current robot clamping baffle and the angle steel, when the included angle alpha + beta is equal to 90 degrees, the robot clamping baffle and the angle steel are in a parallel state, the extending rod piece is perpendicular to the angle steel, and the posture of the robot does not need to be adjusted. When alpha + beta is larger than 90 degrees, the robot clamping baffle and the angle steel surface are not in a parallel state, at the moment, the electric push rod extends to push the abduction rod to move around the swing bearing, so that the angle between the abduction rod and the angle steel is reduced, when alpha + beta is reduced to 90 degrees, the clamping baffle is parallel to the angle steel surface, the abduction rod is perpendicular to the angle steel, the electric push rod is stopped to move, and the vertical centering operation of the robot is completed. When the angle alpha + beta is smaller than 90 degrees, the electric push rod is required to contract at the moment, the outward extending rod piece is pulled to move around the swing bearing, the angle between the outward extending rod piece and the angle steel is increased, when the angle alpha + beta is increased to 90 degrees, the clamping baffle is parallel to the surface of the angle steel at the moment, the outward extending rod piece is perpendicular to the angle steel, the electric push rod is stopped to move, and the vertical centering operation of the robot is completed.
In some embodiments, the control system further comprises a gripper control module, the gripper control module is arranged on the gripper, the gripper is mounted on the robot body, and the gripper control module is connected with the main controller to control the opening or closing of the gripper;
the mechanical claw comprises a support 81 of an extending component, the support 81 is connected with a dobby, and the end part of the dobby is provided with a mechanical claw 810 for clamping or loosening the safety rope;
as shown in fig. 5, the dobby mechanism includes a first arm, i.e. a large arm 84, and a second arm, i.e. a front arm 87, the first arm is connected with a support 81 through a first motor, i.e. a large arm motor 83 and a large arm reducer 32, a second motor, i.e. a front arm motor 86 and a front arm reducer 85, is arranged between the second arm and the first arm, the end of the second arm is provided with a gripper 810 through a third motor, i.e. a manipulator motor 89 and a manipulator reducer 88, the gripper 810 is arranged downward, and an open-close type gripper is selected, so that the robot can grip a safety rope through the gripper 810 after climbing to a set position, so as to guarantee life safety for a first climbing tower person.
The communication module is completed by a wireless network card, and the upper computer can read the surrounding environment information and the self pose information of the climbing robot and complete manual operation through the communication module.
As shown in fig. 9 and 10, the control method of the control system of the transmission tower climbing robot includes:
1) the vision recognition module shoots the surrounding environment of the robot and transmits information to the main controller, and if no obstacle exists, climbing is started;
2) the clamping mechanism of the upper mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the upper mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the upper mechanical arm of the robot is loosened relative to the tower;
3) the lifting control module acts to control the upper mechanical arm of the robot to lift, and the lifting control module stops acting after reaching a set position, drives the control module to control the extending mechanism of the upper mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the upper mechanical arm to clamp the side part of the tower;
4) the clamping mechanism of the lower mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the lower mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the lower mechanical arm of the robot is loosened relative to the tower;
5) the lifting control module acts to control the lower mechanical arm of the robot to lift, and the lower mechanical arm stops acting after reaching a set position, the drive control module controls the extending mechanism of the lower mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the lower mechanical arm to clamp the side part of the tower;
6) repeating step 1) -step 5).
Before the step 1), determining an original length S of a robot lifting mechanism and a minimum distance h of single-step climbing according to a minimum obstacle distance S of a transmission tower, determining a lifting distance L of the robot lifting mechanism according to a maximum obstacle length, and determining an initial state, wherein the original state is as follows: the lifting mechanism is positioned at the lowest position, and the four arms keep a grasping state.
And before step 1), the robot is started and self-checked: the lifting mechanism is positioned at the lowest position, the distance measuring sensors return to the lowest value, the four groups of mechanical arms are kept in a grasping state, the force sensors return to the maximum value, the running state of each sensor is normal, and the power supply is abundant in electric quantity;
respectively sorting out N sets of solutions aiming at each obstacle type or obstacles with the same obstacle type and different specifications, when the second step detects that the single step distance contains the obstacle, comparing with the existing obstacle type to determine and implement the solution M in the N solutions, determining the obstacle length L1 according to the specifications of a foot nail of a transmission tower, setting a corresponding outward extending lead x, a backward moving lead y and an obstacle crossing step z, obtaining an obstacle distance k1 through image processing, setting a special single step k1 to move a robot to the lower part of the obstacle, determining the lifting distance L1 and the outward extending lead y1 of an upper mechanical arm according to the specifications of the obstacle, operating a clamping driving motor to release a clamping hand, controlling the action of an outward extending motor through a multi-shaft motion controller, enabling the outward extending mechanism to extend the x1 transversely, obtaining the outward extending distance through a distance measuring module on a guide rail, operating an ejection motor to enable the upper mechanical arm to move back y1 when reaching a, and then operating a lifting mechanism to lift the upper mechanical arm, controlling an ejection motor to enable the mechanical arm to move forwards after the upper mechanical arm is over-obstacle, controlling an abduction motor to operate reversely, abduction recovering, controlling a clamping motor to operate to enable a clamping paw to grasp the angle steel, lifting the lower mechanical arm, continuously lifting the upper mechanical arm by a distance s, and pulling the lower mechanical arm to L1 to complete over-obstacle.
When new obstacles appear to enable the obstacle distance to be smaller than the original length of the lifting mechanism, namely when the upper mechanical arm is lifted in the obstacle crossing control process and then new obstacles appear in the upper distance s, the obstacle crossing process cannot be achieved, the obstacle distance k2 is detected and the obstacle type is determined to obtain the obstacle length L2, and the obstacle length L2 is calculated by s + Lmax>L1+ k2+ L2+ s obtains the maximum lifting distance L of the lifting mechanismmax>L1+ k2+ L2, the robot can span once, and the upper arm lifting distance L = k2+ L2+ s is set, the lower arm is lifted by L' = L1+ k2+ L2 to complete obstacle crossing, otherwise, the obstacle crossing is completed in two steps, namely the upper arm lifting distance is z2= k2+ L2 after the lower arm reaches the front position of the upper arm, the lower arm lifting distance r = k2+ L1, the rear upper arm lifting distance s is set, and the lower arm lifting distance L2 completes obstacle crossing.
And when the obstacle detected in the first step is not in the existing obstacle type, maintaining the clamping state and sending an obstacle alarm signal, creating new obstacle data, storing obstacle characteristics and waiting for a control instruction of manual operation to perform manual operation obstacle crossing, storing the obstacle crossing control method after the manual operation is finished, and merging the obstacle data into an obstacle type library to be used as an N +1 solution.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The utility model provides a transmission tower climbing robot control system which characterized in that includes:
the visual recognition module is arranged on the robot body and used for monitoring the surrounding environment of the robot;
the driving control module is arranged on a mechanical arm of the robot body, the mechanical arm comprises an abduction mechanism and a clamping mechanism, the clamping mechanism is connected with the abduction mechanism, and the driving control module is used for controlling the actions of the robot abduction mechanism and the clamping mechanism;
the lifting control module is arranged between two adjacent mechanical arms on the upper part and the lower part of the robot body and is used for controlling the lifting action of the robot through the lifting mechanism so as to realize the climbing action of the robot;
the main controller, the visual identification module, the clamping mechanism control module and the lifting control module are respectively connected with the main controller through the communication module;
the drive control module also comprises an adjusting electric push rod arranged between the abduction mechanism and the base bottom plate so as to enable an abduction rod piece of the abduction mechanism to swing relative to the mounting plate, and the clamping mechanism is attached to the angle steel in parallel; the centering clamping of the tower by the clamping mechanism is realized; the clamping motion driving unit comprises a first clamping driving part and a second clamping driving part, the two clamping driving parts are arranged up and down, and the first clamping driving part and the second clamping driving part both comprise clamping driving power sources; the clamping mechanism comprises a clamping rod piece, the inner side of the clamping rod piece is provided with a second lead screw through a clamping baffle, and the second lead screw is connected with a clamping driving power source; the abduction mechanism comprises an abduction rod piece, the inner side of the abduction rod piece is provided with a first lead screw through an abduction baffle, and the first lead screw is connected with an abduction driving power source; the clamping rod piece is sleeved on the first screw rod, the end part of the clamping rod piece is arranged on an outward extending guide rail of the outward extending rod piece through an outward extending sliding block, the clamping plate is sleeved on the second screw rod, and the end part of the clamping plate is arranged on the clamping guide rail arranged on the clamping rod piece through a clamping sliding block;
the robot body comprises mounting plates which are arranged from top to bottom, wherein the two sides of each mounting plate are respectively provided with an extending mechanism, the mounting plates are arranged on a base bottom plate, and two ends of a lifting mechanism are respectively connected with an upper base bottom plate and a lower base bottom plate.
2. The control system for the transmission tower climbing robot as claimed in claim 1, further comprising a sensing module for detecting the running state of the robot, wherein the sensing module is connected with the master controller.
3. The control system of the transmission tower climbing robot as claimed in claim 1, wherein the visual recognition module comprises a wireless transceiver, a first camera and a second camera which are arranged on the robot, the two cameras are respectively used for acquiring environmental information above and below the robot, the first camera and the second camera are both connected with an upper computer through the wireless transceiver, and the upper computer is connected with the master controller.
4. The control system for the transmission tower climbing robot as claimed in claim 1, wherein the drive control module comprises a multi-axis motion controller, and an abduction motion driving unit and a clamping motion driving unit which are respectively and independently connected with the multi-axis motion controller;
abduction motion drive unit includes first abduction driver part and second abduction driver part, and these two abduction driver parts set up from top to bottom, and first abduction driver part and second abduction driver part all include abduction drive power supply.
5. The control system of transmission tower climbing robot of claim 1, wherein the lift control module includes a lift drive power source connected to the lift mechanism.
6. The control system for the transmission tower climbing robot as claimed in claim 5, further comprising an ejection control module mounted on the robot body, wherein the ejection control module comprises an ejection driving power source to control the ejection mechanism to extend out to contact with the tower;
the ejection mechanism comprises an ejection screw penetrating through the mounting plate, one end of the ejection screw is provided with an ejector head used for being in contact with a tower, and the other end of the ejection screw is provided with the ejection driving power source.
7. The control system for the transmission tower climbing robot as claimed in claim 2, wherein the sensing module comprises a force sensor arranged on the clamping mechanism and an inclination angle sensor arranged on the abduction mechanism and used for detecting an included angle between the abduction mechanism and a horizontal plane;
the sensing module further comprises a distance measuring sensor arranged on the robot body and used for measuring the distance between the upper mechanical arm and the lower mechanical arm;
the sensing module further comprises a limit switch and a photoelectric encoder, wherein the limit switch and the photoelectric encoder are installed on the clamping mechanism, the lifting mechanism and the extending mechanism.
8. The control system for the transmission tower climbing robot as claimed in claim 1, further comprising a gripper control module, wherein the gripper control module is arranged on a gripper, the gripper is mounted on a robot body, and the gripper control module is connected with the master controller to control the gripper to be opened or closed;
the mechanical claw comprises a support arranged on the robot body or the abduction mechanism, the support is connected with the dobby, and the end part of the dobby is provided with the mechanical claw;
the dobby mechanism comprises a first arm and a second arm, the first arm is connected with the support through a first motor, a second motor is arranged between the second arm and the first arm, and the end part of the second arm is provided with the mechanical claw through a third motor.
9. The control method of the transmission tower climbing robot control system according to any one of claims 1 to 8, comprising:
1) the vision recognition module shoots the surrounding environment of the robot and transmits information to the main controller, and if no obstacle exists, climbing is started;
2) the clamping mechanism of the upper mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the upper mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the upper mechanical arm of the robot is loosened relative to the tower;
3) the lifting control module acts to control the upper mechanical arm of the robot to lift, and the lifting control module stops acting after reaching a set position, drives the control module to control the extending mechanism of the upper mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the upper mechanical arm to clamp the side part of the tower;
4) the clamping mechanism of the lower mechanical arm of the robot is controlled to open towards two sides by the driving control module, and the extending mechanism of the lower mechanical arm of the robot is controlled to move towards the outer side of the tower, so that the lower mechanical arm of the robot is loosened relative to the tower;
5) the lifting control module acts to control the lower mechanical arm of the robot to lift, and the lower mechanical arm stops acting after reaching a set position, the drive control module controls the extending mechanism of the lower mechanical arm of the robot to move towards the tower direction, and controls the clamping mechanism of the lower mechanical arm to clamp the side part of the tower;
6) repeating step 1) -step 5).
CN201910081181.8A 2019-01-28 2019-01-28 Control system and control method for transmission tower climbing robot Active CN109591906B (en)

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